LEGO Mindstorms EV3


Device1 interface
*
*  VALID COMMANDS:
*
*  opPROGRAM_STOP:       User program stopped -> either brake or float motors
*  opPROGRAM_START:      User program started -> reset motor parameters
*  opOUTPUT_SET_TYPE:    Set motor type, and reset all parameters upon motor type change
*  opOUTPUT_RESET:       Resets the output tacho counters
*  opOUTPUT_CLR_COUNT:   Resets the tacho count related to when motor is used as a sensor
*  opOUTPUT_STOP:        Stops the motors - either Braked or coasted
*  opOUTPUT_POWER:       Sets the power - this command so not start the motor
*  opOUTPUT_SPEED:       Sets the Speed - setpoint for regulation - this command do not start the motor
*  opOUTPUT_START:       Starts the motor if not started
*  opOUTPUT_POLARITY:    Sets the polarity of the motor - this command do not start the motor
*  opOUTPUT_STEP_POWER:  Runs the motor un-regulated with ramp up const and down according to the tacho
*  opOUTPUT_TIME_POWER:  Runs the motor un-regulated with ramp up const and down according to time
*  opOUTPUT_STEP_SPEED:  Runs the motor regulated with ramp up const and down according to the tacho
*  opOUTPUT_TIME_SPEED:  Runs the motor regulated with ramp up const and down according to the time
*  opOUTPUT_STEP_SYNC:   Runs two motors regulated and syncronized, duration as specified by tacho cnts
*  opOUTPUT_TIME_SYNC:   Runs two motors regulated and syncronized, duration as specified by time
*  Default state:        TBD
*
*  

LEGO® Robotics Firmware Documentation
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